I need to move the robot using regular API(currently using sim.setObjectPosition, if any other options is there kindly let me know). When I tried to set the position of robot during simulation on, robot breaks apart.
Code: Select all
RoboHandle = sim.getObjectHandle("kira_b50")
sim.setObjectPosition(RoboHandle,-1,{1,1,0})
When I use the above code, robot breaks apart. I tested the same code for KUKA YouBot robot, same thing happened.
How can I move my robot using regular API without breaking it?
I went through design consideration for dynamic simulation. I didn't find any error in the robot design(which are critical ).
https://www.coppeliarobotics.com/helpFi ... ations.htm.
Kindly have a look into my robot design consideration and breaking of robot when moving using regular API.
https://drive.google.com/file/d/1s4zgrv ... sp=sharing
https://drive.google.com/file/d/1ZZxv3I ... sp=sharing
Currently kira_b50 is a base model. I set the robot_base(convex shape) as a model, it works without ros velocity command, but not with ros velocity command.
I need to make base_ref(dummy) as a base of model and also I need to move the robot using setObjectPosition without breaking robot.
Hope for a hint or suggestion.
Thanks in advance.